Dataset tools for working with the KITTI dataset raw data ( http://www.cvlibs.net/datasets/kitti/raw_data.php ) and converting it to a ROS bag. Also allows a library for direct access to poses, velodyne scans, and images.
rosrun kitti_to_rosbag kitti_rosbag_converter calibration_path dataset_path output_path
(No trailing slashes).
rosrun kitti_to_rosbag kitti_rosbag_converter ~/data/kitti/2011_09_26 ~/data/kitti/2011_09_26/2011_09_26_drive_0035_sync ~/data/kitti/2011_09_26/2011_09_26_drive_0035_sync/testbag.bag
#include <opencv2/highgui/highgui.hpp>
#include "kitti_to_rosbag/kitti_parser.h"
int main(int argc, char** argv) {
google::InitGoogleLogging(argv[0]);
google::ParseCommandLineFlags(&argc, &argv, false);
const std::string calibration_path = "/Users/helen/data/kitti/2011_09_26";
const std::string dataset_path =
"/Users/helen/data/kitti/2011_09_26/2011_09_26_drive_0035_sync";
kitti::KittiParser parser(calibration_path, dataset_path, true);
parser.loadCalibration();
parser.loadTimestampMaps();
uint64_t timestamp;
kitti::Transformation pose;
parser.getPoseAtEntry(0, ×tamp, &pose);
std::cout << "Timestamp: " << timestamp << " Pose: " << pose << std::endl;
pcl::PointCloud<pcl::PointXYZI> ptcloud;
parser.getPointcloudAtEntry(0, ×tamp, &ptcloud);
std::cout << "Timestamp: " << timestamp << " Num points: " << ptcloud.size()
<< std::endl;
cv::Mat image;
parser.getImageAtEntry(0, 3, ×tamp, &image);
cv::imshow("Display window", image);
cv::waitKey(0);
return 0;
}
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